4,592 research outputs found
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
Accurate and robust vehicle localization in highly urbanized areas is
challenging. Sensors are often corrupted in those complicated and large-scale
environments. This paper introduces GNSS-FGO, an online and global trajectory
estimator that fuses GNSS observations alongside multiple sensor measurements
for robust vehicle localization. In GNSS-FGO, we fuse asynchronous sensor
measurements into the graph with a continuous-time trajectory representation
using Gaussian process regression. This enables querying states at arbitrary
timestamps so that sensor observations are fused without requiring strict state
and measurement synchronization. Thus, the proposed method presents a
generalized factor graph for multi-sensor fusion. To evaluate and study
different GNSS fusion strategies, we fuse GNSS measurements in loose and tight
coupling with a speed sensor, IMU, and lidar-odometry. We employed datasets
from measurement campaigns in Aachen, Duesseldorf, and Cologne in experimental
studies and presented comprehensive discussions on sensor observations,
smoother types, and hyperparameter tuning. Our results show that the proposed
approach enables robust trajectory estimation in dense urban areas, where the
classic multi-sensor fusion method fails due to sensor degradation. In a test
sequence containing a 17km route through Aachen, the proposed method results in
a mean 2D positioning error of 0.19m for loosely coupled GNSS fusion and 0.48m
while fusing raw GNSS observations with lidar odometry in tight coupling.Comment: Revision of arXiv:2211.0540
Detection of a signal in linear subspace with bounded mismatch
We consider the problem of detecting a signal of interest in a background of noise with unknown covariance matrix, taking into account a possible mismatch between the actual steering vector and the presumed one. We assume that the former belongs to a known linear subspace, up to a fraction of its energy. When the subspace of interest consists of the presumed steering vector, this amounts to assuming that the angle between the actual steering vector and the presumed steering vector is upper bounded. Within this framework, we derive the generalized likelihood ratio test (GLRT). We show that it involves solving a minimization problem with the constraint that the signal of interest lies inside a cone. We present a computationally efficient algorithm to find the maximum likelihood estimator (MLE) based on the Lagrange multiplier technique. Numerical simulations illustrate the performance and the robustness of this new detector, and compare it with the adaptive coherence estimator which assumes that the steering vector lies entirely in a subspace
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
EventCap: Monocular 3D Capture of High-Speed Human Motions using an Event Camera
The high frame rate is a critical requirement for capturing fast human motions. In this setting, existing markerless image-based methods are constrained by the lighting requirement, the high data bandwidth and the consequent high computation overhead. In this paper, we propose EventCap --- the first approach for 3D capturing of high-speed human motions using a single event camera. Our method combines model-based optimization and CNN-based human pose detection to capture high-frequency motion details and to reduce the drifting in the tracking. As a result, we can capture fast motions at millisecond resolution with significantly higher data efficiency than using high frame rate videos. Experiments on our new event-based fast human motion dataset demonstrate the effectiveness and accuracy of our method, as well as its robustness to challenging lighting conditions
Mobile Robots
The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations
Multispectral Palmprint Encoding and Recognition
Palmprints are emerging as a new entity in multi-modal biometrics for human
identification and verification. Multispectral palmprint images captured in the
visible and infrared spectrum not only contain the wrinkles and ridge structure
of a palm, but also the underlying pattern of veins; making them a highly
discriminating biometric identifier. In this paper, we propose a feature
encoding scheme for robust and highly accurate representation and matching of
multispectral palmprints. To facilitate compact storage of the feature, we
design a binary hash table structure that allows for efficient matching in
large databases. Comprehensive experiments for both identification and
verification scenarios are performed on two public datasets -- one captured
with a contact-based sensor (PolyU dataset), and the other with a contact-free
sensor (CASIA dataset). Recognition results in various experimental setups show
that the proposed method consistently outperforms existing state-of-the-art
methods. Error rates achieved by our method (0.003% on PolyU and 0.2% on CASIA)
are the lowest reported in literature on both dataset and clearly indicate the
viability of palmprint as a reliable and promising biometric. All source codes
are publicly available.Comment: Preliminary version of this manuscript was published in ICCV 2011. Z.
Khan A. Mian and Y. Hu, "Contour Code: Robust and Efficient Multispectral
Palmprint Encoding for Human Recognition", International Conference on
Computer Vision, 2011. MATLAB Code available:
https://sites.google.com/site/zohaibnet/Home/code
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